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   <div id="projectname">OpenLoong Dynamics Control
   &#160;<span id="projectnumber">v0.1.0</span>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="structTask-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">Task Struct Reference</div>  </div>
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<p>This class descibes a task in the form: dx = J dq.  
 <a href="structTask.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="priority__tasks_8h_source.html">priority_tasks.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a26c2d4aaae7802df6c392ef1b4d38ab0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a26c2d4aaae7802df6c392ef1b4d38ab0">Task</a> (std::string name)</td></tr>
<tr class="memdesc:a26c2d4aaae7802df6c392ef1b4d38ab0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="structTask.html" title="This class descibes a task in the form: dx = J dq.">Task</a> object.  <a href="structTask.html#a26c2d4aaae7802df6c392ef1b4d38ab0">More...</a><br /></td></tr>
<tr class="separator:a26c2d4aaae7802df6c392ef1b4d38ab0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a36551b2c460ad511f54cbf203e309917"><td class="memItemLeft" align="right" valign="top"><a id="a36551b2c460ad511f54cbf203e309917"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a36551b2c460ad511f54cbf203e309917">taskName</a></td></tr>
<tr class="memdesc:a36551b2c460ad511f54cbf203e309917"><td class="mdescLeft">&#160;</td><td class="mdescRight">task name <br /></td></tr>
<tr class="separator:a36551b2c460ad511f54cbf203e309917"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1bdc8139dd647f9701e9f43e588749d7"><td class="memItemLeft" align="right" valign="top"><a id="a1bdc8139dd647f9701e9f43e588749d7"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a1bdc8139dd647f9701e9f43e588749d7">id</a></td></tr>
<tr class="memdesc:a1bdc8139dd647f9701e9f43e588749d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">task id <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a5590dd70434313e8f8e91444938121aa">parentId</a></td></tr>
<tr class="memdesc:a5590dd70434313e8f8e91444938121aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">parent task id (higher priority) <br /></td></tr>
<tr class="separator:a5590dd70434313e8f8e91444938121aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fdbb8808a56ca96cbdec1a337bc5953"><td class="memItemLeft" align="right" valign="top"><a id="a2fdbb8808a56ca96cbdec1a337bc5953"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a2fdbb8808a56ca96cbdec1a337bc5953">childId</a></td></tr>
<tr class="memdesc:a2fdbb8808a56ca96cbdec1a337bc5953"><td class="mdescLeft">&#160;</td><td class="mdescRight">child task id (lower priority) <br /></td></tr>
<tr class="separator:a2fdbb8808a56ca96cbdec1a337bc5953"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af16fe27c5fb197cdca58d731444008fc"><td class="memItemLeft" align="right" valign="top"><a id="af16fe27c5fb197cdca58d731444008fc"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#af16fe27c5fb197cdca58d731444008fc">dxDes</a></td></tr>
<tr class="memdesc:af16fe27c5fb197cdca58d731444008fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired dx (x derivative) <br /></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#aacbb050b3a51a6a40fe7623ceb6240b8">ddxDes</a></td></tr>
<tr class="memdesc:aacbb050b3a51a6a40fe7623ceb6240b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired ddx (dx derivative) <br /></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#aa67cd59077f77263c12c0a63c7d6dd8b">delta_q</a></td></tr>
<tr class="memdesc:aa67cd59077f77263c12c0a63c7d6dd8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired delta q to fullfill the task <br /></td></tr>
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<tr class="memitem:aff4c90e3b2dec84c5dd2ddfa602c3337"><td class="memItemLeft" align="right" valign="top"><a id="aff4c90e3b2dec84c5dd2ddfa602c3337"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#aff4c90e3b2dec84c5dd2ddfa602c3337">dq</a></td></tr>
<tr class="memdesc:aff4c90e3b2dec84c5dd2ddfa602c3337"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired dq to fullfill the task <br /></td></tr>
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<tr class="memitem:a07b71cab2a0637fafa619210411e7e6b"><td class="memItemLeft" align="right" valign="top"><a id="a07b71cab2a0637fafa619210411e7e6b"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a07b71cab2a0637fafa619210411e7e6b">ddq</a></td></tr>
<tr class="memdesc:a07b71cab2a0637fafa619210411e7e6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired ddq to fullfill the task <br /></td></tr>
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<tr class="memitem:ab6d748e8c9848d62651c6f69959d44e1"><td class="memItemLeft" align="right" valign="top"><a id="ab6d748e8c9848d62651c6f69959d44e1"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#ab6d748e8c9848d62651c6f69959d44e1">J</a></td></tr>
<tr class="memdesc:ab6d748e8c9848d62651c6f69959d44e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">task jacobian matrix <br /></td></tr>
<tr class="separator:ab6d748e8c9848d62651c6f69959d44e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af030b739b982580e161a18fd9781bc19"><td class="memItemLeft" align="right" valign="top"><a id="af030b739b982580e161a18fd9781bc19"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#af030b739b982580e161a18fd9781bc19">dJ</a></td></tr>
<tr class="memdesc:af030b739b982580e161a18fd9781bc19"><td class="mdescLeft">&#160;</td><td class="mdescRight">task jacobian matrix time viriant <br /></td></tr>
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<tr class="memitem:a4a3821db687db14af77c7eeae7d6ba27"><td class="memItemLeft" align="right" valign="top"><a id="a4a3821db687db14af77c7eeae7d6ba27"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a4a3821db687db14af77c7eeae7d6ba27">Jpre</a></td></tr>
<tr class="memdesc:a4a3821db687db14af77c7eeae7d6ba27"><td class="mdescLeft">&#160;</td><td class="mdescRight">task jacobian including all the tasks with higher priority <br /></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a3077b191fb5b8d5ace12c7222dae2490">N</a></td></tr>
<tr class="memdesc:a3077b191fb5b8d5ace12c7222dae2490"><td class="mdescLeft">&#160;</td><td class="mdescRight">null space matrix <br /></td></tr>
<tr class="separator:a3077b191fb5b8d5ace12c7222dae2490"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab528b295f73bc2dcae252afe559d1a21"><td class="memItemLeft" align="right" valign="top"><a id="ab528b295f73bc2dcae252afe559d1a21"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#ab528b295f73bc2dcae252afe559d1a21">kp</a></td></tr>
<tr class="memdesc:ab528b295f73bc2dcae252afe559d1a21"><td class="mdescLeft">&#160;</td><td class="mdescRight">position gain to compensate error in desired acceleration <br /></td></tr>
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<tr class="memitem:a3b9e7af65942b491c076cc22de4f89d9"><td class="memItemLeft" align="right" valign="top"><a id="a3b9e7af65942b491c076cc22de4f89d9"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a3b9e7af65942b491c076cc22de4f89d9">kd</a></td></tr>
<tr class="memdesc:a3b9e7af65942b491c076cc22de4f89d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">velocity gain to compensate error in desired acceleration <br /></td></tr>
<tr class="separator:a3b9e7af65942b491c076cc22de4f89d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ab283c32201b1d05812dfb66cc524d9"><td class="memItemLeft" align="right" valign="top"><a id="a3ab283c32201b1d05812dfb66cc524d9"></a>
Eigen::DiagonalMatrix&lt; double, -1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a3ab283c32201b1d05812dfb66cc524d9">W</a></td></tr>
<tr class="memdesc:a3ab283c32201b1d05812dfb66cc524d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">weighted matrix for pseudo inverse <br /></td></tr>
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<tr class="memitem:a95bd196967c9670c42cbcc4902dd6314"><td class="memItemLeft" align="right" valign="top"><a id="a95bd196967c9670c42cbcc4902dd6314"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#a95bd196967c9670c42cbcc4902dd6314">errX</a></td></tr>
<tr class="memdesc:a95bd196967c9670c42cbcc4902dd6314"><td class="mdescLeft">&#160;</td><td class="mdescRight">error in task object X <br /></td></tr>
<tr class="separator:a95bd196967c9670c42cbcc4902dd6314"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae935da3dcfe3783f5a5b4c1696e940be"><td class="memItemLeft" align="right" valign="top"><a id="ae935da3dcfe3783f5a5b4c1696e940be"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structTask.html#ae935da3dcfe3783f5a5b4c1696e940be">derrX</a></td></tr>
<tr class="memdesc:ae935da3dcfe3783f5a5b4c1696e940be"><td class="mdescLeft">&#160;</td><td class="mdescRight">error in X derivative <br /></td></tr>
<tr class="separator:ae935da3dcfe3783f5a5b4c1696e940be"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class descibes a task in the form: dx = J dq. </p>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8h_source.html#l00020">20</a> of file <a class="el" href="priority__tasks_8h_source.html">priority_tasks.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a26c2d4aaae7802df6c392ef1b4d38ab0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a26c2d4aaae7802df6c392ef1b4d38ab0">&#9670;&nbsp;</a></span>Task()</h2>

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      <table class="memname">
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          <td class="memname">Task::Task </td>
          <td>(</td>
          <td class="paramtype">std::string&#160;</td>
          <td class="paramname"><em>name</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Construct a new <a class="el" href="structTask.html" title="This class descibes a task in the form: dx = J dq.">Task</a> object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">name</td><td>task name </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8h_source.html#l00046">46</a> of file <a class="el" href="priority__tasks_8h_source.html">priority_tasks.h</a>.</p>

<p class="reference">References <a class="el" href="priority__tasks_8h_source.html#l00022">taskName</a>.</p>

</div>
</div>
<hr/>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="priority__tasks_8h_source.html">priority_tasks.h</a></li>
</ul>
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